\hypertarget{class_zebulon_1_1_coral_a_h_r_s_1_1_data_quat}{
\section{Zebulon::CoralAHRS::DataQuat Class Reference}
\label{class_zebulon_1_1_coral_a_h_r_s_1_1_data_quat}\index{Zebulon::CoralAHRS::DataQuat@{Zebulon::CoralAHRS::DataQuat}}
}


This message is sent when the system output mode has been set to CORAL\_\-QUAT. It contains system time and quanternion orientation data. These packets are sent at a constant rate equal to the standard system output rate divided by the output rate divisor.  


{\ttfamily \#include $<$dataquat.h$>$}Inheritance diagram for Zebulon::CoralAHRS::DataQuat::\begin{figure}[H]
\begin{center}
\leavevmode
\includegraphics[height=2cm]{class_zebulon_1_1_coral_a_h_r_s_1_1_data_quat}
\end{center}
\end{figure}
\subsection*{Public Member Functions}
\begin{DoxyCompactItemize}
\item 
\hypertarget{class_zebulon_1_1_coral_a_h_r_s_1_1_data_quat_a27764a86e39809600b24086efa47fd0d}{
\hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_data_quat_a27764a86e39809600b24086efa47fd0d}{DataQuat} ()}
\label{class_zebulon_1_1_coral_a_h_r_s_1_1_data_quat_a27764a86e39809600b24086efa47fd0d}

\begin{DoxyCompactList}\small\item\em Constructor. \item\end{DoxyCompactList}\item 
\hypertarget{class_zebulon_1_1_coral_a_h_r_s_1_1_data_quat_aaa638d0dbd70bb57929cf3b7141164c5}{
\hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_data_quat_aaa638d0dbd70bb57929cf3b7141164c5}{DataQuat} (const \hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_data_quat}{DataQuat} \&message)}
\label{class_zebulon_1_1_coral_a_h_r_s_1_1_data_quat_aaa638d0dbd70bb57929cf3b7141164c5}

\begin{DoxyCompactList}\small\item\em Copy constructor. \item\end{DoxyCompactList}\item 
\hypertarget{class_zebulon_1_1_coral_a_h_r_s_1_1_data_quat_a3089907710fd8c8302f52218a993dc55}{
\hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_data_quat_a3089907710fd8c8302f52218a993dc55}{$\sim$DataQuat} ()}
\label{class_zebulon_1_1_coral_a_h_r_s_1_1_data_quat_a3089907710fd8c8302f52218a993dc55}

\begin{DoxyCompactList}\small\item\em Destructor. \item\end{DoxyCompactList}\item 
virtual int \hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_data_quat_acc330f421cba7e75f315ee22f034db10}{WriteMessageBody} (CxUtils::Packet \&packet) const 
\begin{DoxyCompactList}\small\item\em Writes contents of message body to packet. \item\end{DoxyCompactList}\item 
virtual int \hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_data_quat_a65eb06b7d3ba996fcf0d040039129dc7}{ReadMessageBody} (const CxUtils::Packet \&packet)
\begin{DoxyCompactList}\small\item\em Reads contents of message body from the packet, saving to internal data members. \item\end{DoxyCompactList}\item 
\hypertarget{class_zebulon_1_1_coral_a_h_r_s_1_1_data_quat_a0e65048cea87159a7e062aca461e5cf3}{
virtual \hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_message}{Message} $\ast$ {\bfseries Clone} () const }
\label{class_zebulon_1_1_coral_a_h_r_s_1_1_data_quat_a0e65048cea87159a7e062aca461e5cf3}

\item 
\hypertarget{class_zebulon_1_1_coral_a_h_r_s_1_1_data_quat_a2710c289518dab3f82ca610649917394}{
virtual void \hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_data_quat_a2710c289518dab3f82ca610649917394}{Print} () const }
\label{class_zebulon_1_1_coral_a_h_r_s_1_1_data_quat_a2710c289518dab3f82ca610649917394}

\begin{DoxyCompactList}\small\item\em Prints data to console window. \item\end{DoxyCompactList}\item 
\hypertarget{class_zebulon_1_1_coral_a_h_r_s_1_1_data_quat_a8611067152c1232f6ec94da2e2e39cc4}{
\hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_data_quat}{DataQuat} \& \hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_data_quat_a8611067152c1232f6ec94da2e2e39cc4}{operator=} (const \hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_data_quat}{DataQuat} \&message)}
\label{class_zebulon_1_1_coral_a_h_r_s_1_1_data_quat_a8611067152c1232f6ec94da2e2e39cc4}

\begin{DoxyCompactList}\small\item\em Sets equal to. \item\end{DoxyCompactList}\end{DoxyCompactItemize}
\subsection*{Public Attributes}
\begin{DoxyCompactItemize}
\item 
\hypertarget{class_zebulon_1_1_coral_a_h_r_s_1_1_data_quat_aa3bc850ad79940075e9b1422fd3d9ec0}{
unsigned short \hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_data_quat_aa3bc850ad79940075e9b1422fd3d9ec0}{mSystemTimeMs}}
\label{class_zebulon_1_1_coral_a_h_r_s_1_1_data_quat_aa3bc850ad79940075e9b1422fd3d9ec0}

\begin{DoxyCompactList}\small\item\em System time from Coral AHRS internal clock (milliseconds). \item\end{DoxyCompactList}\item 
\hypertarget{class_zebulon_1_1_coral_a_h_r_s_1_1_data_quat_a94297d5348b5ca80961b49802f0f05e9}{
CxUtils::Quaternion \hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_data_quat_a94297d5348b5ca80961b49802f0f05e9}{mOrientation}}
\label{class_zebulon_1_1_coral_a_h_r_s_1_1_data_quat_a94297d5348b5ca80961b49802f0f05e9}

\begin{DoxyCompactList}\small\item\em Quaternion values of w, x, y and z components. \item\end{DoxyCompactList}\end{DoxyCompactItemize}


\subsection{Detailed Description}
This message is sent when the system output mode has been set to CORAL\_\-QUAT. It contains system time and quanternion orientation data. These packets are sent at a constant rate equal to the standard system output rate divided by the output rate divisor. 

\subsection{Member Function Documentation}
\hypertarget{class_zebulon_1_1_coral_a_h_r_s_1_1_data_quat_a65eb06b7d3ba996fcf0d040039129dc7}{
\index{Zebulon::CoralAHRS::DataQuat@{Zebulon::CoralAHRS::DataQuat}!ReadMessageBody@{ReadMessageBody}}
\index{ReadMessageBody@{ReadMessageBody}!Zebulon::CoralAHRS::DataQuat@{Zebulon::CoralAHRS::DataQuat}}
\subsubsection[{ReadMessageBody}]{\setlength{\rightskip}{0pt plus 5cm}int DataQuat::ReadMessageBody (const CxUtils::Packet \& {\em packet})\hspace{0.3cm}{\ttfamily  \mbox{[}virtual\mbox{]}}}}
\label{class_zebulon_1_1_coral_a_h_r_s_1_1_data_quat_a65eb06b7d3ba996fcf0d040039129dc7}


Reads contents of message body from the packet, saving to internal data members. 
\begin{DoxyParams}{Parameters}
\item[\mbox{$\leftarrow$} {\em packet}]The packet to read data from.\end{DoxyParams}
\begin{DoxyReturn}{Returns}
Number of bytes read from packet. 
\end{DoxyReturn}


Implements \hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_message}{Zebulon::CoralAHRS::Message}.\hypertarget{class_zebulon_1_1_coral_a_h_r_s_1_1_data_quat_acc330f421cba7e75f315ee22f034db10}{
\index{Zebulon::CoralAHRS::DataQuat@{Zebulon::CoralAHRS::DataQuat}!WriteMessageBody@{WriteMessageBody}}
\index{WriteMessageBody@{WriteMessageBody}!Zebulon::CoralAHRS::DataQuat@{Zebulon::CoralAHRS::DataQuat}}
\subsubsection[{WriteMessageBody}]{\setlength{\rightskip}{0pt plus 5cm}int DataQuat::WriteMessageBody (CxUtils::Packet \& {\em packet}) const\hspace{0.3cm}{\ttfamily  \mbox{[}virtual\mbox{]}}}}
\label{class_zebulon_1_1_coral_a_h_r_s_1_1_data_quat_acc330f421cba7e75f315ee22f034db10}


Writes contents of message body to packet. 
\begin{DoxyParams}{Parameters}
\item[\mbox{$\leftarrow$} {\em packet}]The packet to write data to.\end{DoxyParams}
\begin{DoxyReturn}{Returns}
Number of bytes written to packet. 
\end{DoxyReturn}


Implements \hyperlink{class_zebulon_1_1_coral_a_h_r_s_1_1_message}{Zebulon::CoralAHRS::Message}.

The documentation for this class was generated from the following files:\begin{DoxyCompactItemize}
\item 
C:/Users/Matt/Documents/School/Robotics/zebulon/v2/coralahrs/include/coralahrs/messages/\hyperlink{dataquat_8h}{dataquat.h}\item 
C:/Users/Matt/Documents/School/Robotics/zebulon/v2/coralahrs/src/coralahrs/messages/\hyperlink{dataquat_8cpp}{dataquat.cpp}\end{DoxyCompactItemize}
